cmake_minimum_required(VERSION 2.8.3)
project(test_path_searching)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall")

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  visualization_msgs
  cv_bridge
  plan_env
  path_searching
)


catkin_package(
 INCLUDE_DIRS
 LIBRARIES test_path_searching
 CATKIN_DEPENDS plan_env path_searching
#  DEPENDS system_lib
)

include_directories( 
    SYSTEM 
    include 
    ${catkin_INCLUDE_DIRS}
    ${Eigen3_INCLUDE_DIRS} 
    ${PCL_INCLUDE_DIRS}
)

add_executable(kinodynamic_astar_test
    src/kinodynamic_astar_main.cpp
    )
target_link_libraries(kinodynamic_astar_test
    ${catkin_LIBRARIES})

add_executable(astar2_test
    src/astar2Main.cpp
    )
target_link_libraries(astar2_test
    ${catkin_LIBRARIES})
